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Overview

The 2 DOF Robot module is connected to two Rotary Servo Base Units, which are mounted at a fixed distance. Two servomotors on the Rotary Servo Base Units are mounted at a fixed distance and control a 4-bar linkage system: two powered arms coupled through two non-powered arms. The system is planar and has two actuated and three unactuated revolute joints.

The goal of the 2 DOF Robot experiment is to manipulate the X-Y position of a four-bar linkage end effector. Such a system is similar to the kinematic problems encountered in the control of other parallel mechanisms that have singularities.

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2 DOF Robot module easily attaches to the Rotary Servo Base Unit
4-bar precision-crafted aluminum linkage system
Allows for mounting of the 2 DOF Inverted Pendulum module for additional experiments (sold separately)

2 DOF Robot overall dimensions* (L x W x H) 40 cm x 30 cm x 20 cm
2 DOF Robot total mass* 4.0 kg
Mass of 4-bar linkage module 0.335 kg
Mass of single link 0.065 kg
Length of link 0.127 m
Link moment of inertia about cog 8.74 x 10-5 kg.m²
Link moment of inertia about pivot 4.41 x 10-4 kg.m²

* 2 DOF Robot module mounted on the Rotary Servo Base Unit

Modeling Topics
  • Transfer function representation
  • Kinematics
Control Topics
  • PD

For Simulink

  • QUARC® add-on for MATLAB®/Simulink®
  • Two Rotary Servo Base Units
  • Quanser VoltPAQ-X2 linear voltage amplifier
  • One of the following DAQ devices:
    • Quanser Q2-USB
    • Quanser Q8-USB
    • Quanser QPIDe

For LabVIEW

  • Quanser Rapid Control Prototyping (Q-RCP) Toolkit® add-on for NI LabVIEW™
  • Two Rotary Servo Base Units
  • Quanser VoltPAQ-X2 linear voltage amplifier
  • One of the following DAQ devices:
    • NI CompactRIO with two Quanser Q1-cRIO modules
    • NI myRIO with Quanser Terminal Board
    • Quanser Q2-USB
    • Quanser Q8-USB
    • Quanser QPIDe

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